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The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
Within the context of intelligent manufacturing, industrial robots have a pivotal function. Nonetheless, extended operational periods cause a decline in their absolute positioning accuracy, preventing them from meeting high precision. To…
We propose a novel method to fit and segment multi-structural data via convex relaxation. Unlike greedy methods --which maximise the number of inliers-- this approach efficiently searches for a soft assignment of points to models by…
High absolute accuracy is an essential prerequisite for a humanoid robot to autonomously and robustly perform manipulation tasks while avoiding obstacles. We present for the first time a kinematic model for a humanoid upper body…
The rising number of the elderly incurs growing concern about healthcare, and in particular rehabilitation healthcare. Assistive technology and assistive robotics in particular may help to improve this process. We develop a robot coach…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
We develop general methods to calculate the mobilities of extended bodies in (or associated with) membranes and films. We demonstrate a striking difference between in-plane motion of rod-like inclusions and the corresponding case of bulk…
For the numerical solution of shape optimization problems, particularly those constrained by partial differential equations (PDEs), the quality of the underlying mesh is of utmost importance. Particularly when investigating complex…
The quest for the efficient adaptation of multilegged robotic systems to changing conditions is expected to render new insights into robotic control and locomotion. In this paper, we study the performance frontiers of the enumerative…
An efficient proximal-gradient-based method, called proximal extrapolated gradient method, is designed for solving monotone variational inequality in Hilbert space. The proposed method extends the acceptable range of parameters to obtain…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the…
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not…
Explicit formulas expressing the solution to non-autonomous differential equations are of great importance in many application domains such as control theory or numerical operator splitting. In particular, intrinsic formulas allowing to…
Legged robots can pass through complex field environments by selecting gaits and discrete footholds carefully. Traditional methods plan gait and foothold separately and treat them as the single-step optimal process. However, such processing…
In this paper we propose a unified two-phase scheme for convex optimization to accelerate: (1) the adaptive cubic regularization methods with exact/inexact Hessian matrices, and (2) the adaptive gradient method, without any knowledge of the…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting humancentered robot control, where the robot continuously adapts its assistance level based on the real-time need of its human counterpart. One…
An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…